永磁同步电动机步进控制的电动执行器研究
|
摘要
永磁同步电动机步进控制的电动执行器是采用增量运动控制理论研制的新一代执行器控制系统。利用永磁同步电动机的步进控制，为角行程终端设备提供准确可靠的定位控制，步进角小、转矩大、惯量小，将使流量及压力控制达到高的技术指标和控制精度。
永磁同步电动机步进控制的电动执行器是基于新的控制思想和控制技术的机电一体化新型装置，基于交流步进控制理论，将交流电动机的磁场位置选为主要的控制目标，建立基于数字控制的交流步进控制模型，使执行器终端设备在给定位置目标下，通过位置反馈达到最优时间控制。这其中的交流步进控制理论打破了传统的增量运动控制思想，打破了连续与离散，速度与位置，旋转和步进的严格界限，以定、转子磁场空间矢量为主要控制目标，将增量控制与运动控制有机的结合起来，使增量控制向大容量、高效率、高精度方向发展。
本文研究了由圆形旋转磁场离散为多边形步进磁场的离散方法和空间旋转矢量的步进定位特性。介绍了对步进传动时间——空间诸量的分析方法。步进电源是产生步进磁势的关键，文章研究了三角波为载波，阶梯正弦波为调制波的脉宽调制技术，进而介绍了采用DSP组成全数字控制器，完成步进电源触发的执行器驱动器的设计。最后对本课题开发的执行器系统的结构和性能进行了介绍和分析。
实验证明，系统具有良好的速度和位置控制性能，有着广阔的发展前景。
Permanent magnet synchronous motor (PMSM) step motion control for the electric actuator is a new actuator control system adopted incremental motion control theory. By means of the step control of PMSM, it can offer accurate and reliable position control for the angle travel terminal equipment. Step angle is small, torque is large and inertia is small. This system will promote the technical guideline and control accuracy of the flow and pressure control.
PMSM step motion control for the electric actuator is a new mechatronics device based on new control theory and technology, based on ac step motion control theory, that selects the stator field position as the primary control objects and sets the ac step motion control model based on digital control to attain optimal time control through position feedback. This system makes a breakthrough of traditional incremental motion control theories. It breaks the strict ambit between continuum and discrete, speed and position, rotation and step, the space vectors of stator magnetic field and rotor magnetic field are selected as the main control objects, incremental motion control and motion control are combined organically to make incremental motion control develop to large capability, high efficiency, high precision.
In this paper, the method of dividing circle rotating magnetic field into polygonal step magnetic field and the step orientation characteristic of space rotating vectors are researched. The analyse method for time-space variables of step motion drive is also introduced. Step power is the key for step magnetic potential, the pulse width modulate technology that selects the triangle wave as the carrier and ladder sine wave as the modulate wave is researched, furthermore the design of the actuator drive adopts DSP as the digital controller is introduced. In the end, the construct and performance of the actuator system are introduced and analysed.
Experiments proved that this system has good control capability for speed and position and has good foreground.
永磁同步电动机步进控制的电动执行器是基于新的控制思想和控制技术的机电一体化新型装置，基于交流步进控制理论，将交流电动机的磁场位置选为主要的控制目标，建立基于数字控制的交流步进控制模型，使执行器终端设备在给定位置目标下，通过位置反馈达到最优时间控制。这其中的交流步进控制理论打破了传统的增量运动控制思想，打破了连续与离散，速度与位置，旋转和步进的严格界限，以定、转子磁场空间矢量为主要控制目标，将增量控制与运动控制有机的结合起来，使增量控制向大容量、高效率、高精度方向发展。
本文研究了由圆形旋转磁场离散为多边形步进磁场的离散方法和空间旋转矢量的步进定位特性。介绍了对步进传动时间——空间诸量的分析方法。步进电源是产生步进磁势的关键，文章研究了三角波为载波，阶梯正弦波为调制波的脉宽调制技术，进而介绍了采用DSP组成全数字控制器，完成步进电源触发的执行器驱动器的设计。最后对本课题开发的执行器系统的结构和性能进行了介绍和分析。
实验证明，系统具有良好的速度和位置控制性能，有着广阔的发展前景。
Permanent magnet synchronous motor (PMSM) step motion control for the electric actuator is a new actuator control system adopted incremental motion control theory. By means of the step control of PMSM, it can offer accurate and reliable position control for the angle travel terminal equipment. Step angle is small, torque is large and inertia is small. This system will promote the technical guideline and control accuracy of the flow and pressure control.
PMSM step motion control for the electric actuator is a new mechatronics device based on new control theory and technology, based on ac step motion control theory, that selects the stator field position as the primary control objects and sets the ac step motion control model based on digital control to attain optimal time control through position feedback. This system makes a breakthrough of traditional incremental motion control theories. It breaks the strict ambit between continuum and discrete, speed and position, rotation and step, the space vectors of stator magnetic field and rotor magnetic field are selected as the main control objects, incremental motion control and motion control are combined organically to make incremental motion control develop to large capability, high efficiency, high precision.
In this paper, the method of dividing circle rotating magnetic field into polygonal step magnetic field and the step orientation characteristic of space rotating vectors are researched. The analyse method for time-space variables of step motion drive is also introduced. Step power is the key for step magnetic potential, the pulse width modulate technology that selects the triangle wave as the carrier and ladder sine wave as the modulate wave is researched, furthermore the design of the actuator drive adopts DSP as the digital controller is introduced. In the end, the construct and performance of the actuator system are introduced and analysed.
Experiments proved that this system has good control capability for speed and position and has good foreground.
引文
[01]张崇巍，运动控制系统，武汉理工大学出版社，2002
[02]尔桂花，运动控制系统，清华大学出版社，2002
[03]罗飞，运动控制系统，化学工业出版社，2001
[04]孙鹤旭，交流步进传动系统．北京，机械工业出版社，1996
[05]陈永辉等，我国执行器的现状及发展趋势，电力建设，2001，22(11)：46～51
[06]杨晓东，一种新型电动执行器的开发，鞍钢技术，1999
[07]吴勤勤，电动控制仪表及装置，化学工业出版社，1990
[08]许振茂，变频调速装置及其调试、运行与维修．北京，兵器工业出版社，1994
[09]陈坚，交流电机数学模型及调速系统．北京，国防工业出版社，1989
[10] P. Pillay and R. Krishnam, Modeling, Analysis and Simulation of a High Performance Synchronous Motor Drive. IEEE IAS Annual Meeting, Atlanta, Georgia, 1987
[11] 韩交荣，通用变频器及其应用机械工业出版社，2000．1
[12]李志民，张遇杰，同步电动机调速系统，机械工业出版社，1996
[13]李永尔，曹江涛，邵剑文，异步电机直接转矩控制系统低速转矩特性研究及其全数字化控制．电气传动，1994，1：33～38
[14]冯江华，陈高华，黄松涛，异步电动机的直接转矩控制．电工技术学报，1999,3，29～33
[15] T. -S. Low T. -H. Lee, and K. -T. Chang, An Optimal Speed Controller for Permanent Magnet Synchronous Motor Drives. in Proc. Int. Conf. on Industrial Electronics, control , Instrumentation, and Automation, Power Electronics and Motion Control, 1992, pp. 407～412
[16]陈国呈，PWM变频调速技术．北京，机械工业出版社，1998
[17] Jun-Koo Kang, et al. New Direct Torque Control of Induction Motor for Minimum Torque Ripple and Constant Switching Frequency. IEEE Trans. On Industry Applications. Vol. 35, No.5, September/October 1999
[18]姬志艳，李永东，司保军，无速度传感器异步机直接转矩控制的研究．电工技术学报，1997，4，15～19
[19] R. Monajemy, R. Krishnan, Implementation Strategies for Concurrent Flux Weakening and Torque Control of the PM Synchronous Motor. in IEEE Ind. Application, Society Annu. Meet. 1995, pp.238-245
[20]许大中，交流电机调速理论．杭州，浙江大学出版社，1991
[21]吴守箴，臧英杰，电气传动的脉宽调制控制技术．北京，机械工业出版社，1995
[22]黄俊，王兆安，电力电子变流技术．北京，电子工业出版社，1993
[23]吴永前。永磁同步电机无传感器调速系统的研究。两北工业大学硕十学位论文。2001
[24] Shigeo Morimoto, Keisuke Kawamoto, et al. Sensorless Control Strategy for Salient-Pole PMSM Based on Extended EMF in Rotating Reference Frame. IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 38, NO. 4, JULY/AUGUST 2002
[25] Oskar Wallmark. Control of a Permanent Magnet Synchronous Motor with Non-Sinusoidal Flux Density Distribution Department of Electric Power Engineering. CHALMERS UNIVERSITY OF TECHNOLOGYG, oteborg, Sweden 2001
[26]陈伯时，陈敏逊，交流调速系统．北京，机械工业出版社，1998
[27] Minghua Fu, Longya Xu, A Novel Sensorless Control Technique for Permanent Magnet Synchronous Motor (PMSM) Using Digital Signal Processor (DSP). The Ohio state University, OH, USA
[28] Mitsubishi Semiconductors Power Modules MOD. Using Intelligent Power Modules, MITSUBISHI ELECTRIC, Sep. 1998
[29] Isao Takahashi, Hitoshi Haga. Inverter Control Method of IPM Motor to Improve Power Factor of Diode Rectifier. PCC-Osaka, 2002
[30]李序葆，赵永健，电力电子器件及其应用，机械工业出版社，1996
[31]迟岩，彭继慎等，电流滞环PWM逆变器同步电动机的步进传动控制系统．电气传动，1998．2，11～14、18
[32]张雄伟，曹铁勇，DSP芯片的原理与开发应用，电子工业出版社．2000
[33] S. Bejerke. Digital Signal Processing Solutions for Motor Control Using the TMS320F240 DSP-Controiler. Texas Instruments. September 1996
[34] Texas Instruments, TMS320C24X DSP Controller, Reference Set. 1997
[35] Texas Instruments, TMS320C2XX User's Guide. 1997
[36]于宏全，钟彦儒，曾光，基于TMS320X240的交流变频调速装置的设计，电气传动自动化， 1999，21(3)：7～11
[37] Longya Xu, Minghua Fu, and Li Zhen. A DSP Based Servo System Using Permanent Magnet Synchronous Motors (PMSM). The Ohio State University Department of Electrical Engineering
[38]宋国良，周元钧，李军，旋转变压器．数字转换器AD2S90在无刷直流电机换相与控制中的应用，计算机自动监测与控制，2000
[39]杨雄，用于感应同步器的数字变换芯片AD2S90，国外电子元器件，2002
[40]包健，严义，智能键盘和LED驱动接口芯片的设计，微机算机信息，1999，15(3)：76～77
[41]容毅，MAX7219串行LED驱动器的扩展应用，国外电子元器件，2000，(5)：40～42
[42]黄晓兵，王立墒，串行LED显示驱动器MAX7219，电测与仪表，2000，37(420)：50～51，39
[43]唐晓蓉，周俊武，肖玉明，利用MAX7219驱动LED显示器．电子技术应用，1998(3)
[44]章云，谢莉萍，熊红艳，DSP控制器及其应用，机械工业出版社，2001．8
[45]张雄伟，曹铁勇，DSP芯片的原理与开发应用，电子工业出版社．2000
[46]万文斌等，永磁同步电动机的高性能电流控制器，中国电机工程学报，2000
[47]史秋明等，执行机构位置反馈系统精度的研究，自动化仪表，2000，21(12)12～14，24
[48]邓兵，潘俊民，潘志扬，数字化阀门电动执行机构，2001，17～19
[49]刘杰等，机电一体化技术基础与产品设计，冶金工业出版社，2003
[02]尔桂花，运动控制系统，清华大学出版社，2002
[03]罗飞，运动控制系统，化学工业出版社，2001
[04]孙鹤旭，交流步进传动系统．北京，机械工业出版社，1996
[05]陈永辉等，我国执行器的现状及发展趋势，电力建设，2001，22(11)：46～51
[06]杨晓东，一种新型电动执行器的开发，鞍钢技术，1999
[07]吴勤勤，电动控制仪表及装置，化学工业出版社，1990
[08]许振茂，变频调速装置及其调试、运行与维修．北京，兵器工业出版社，1994
[09]陈坚，交流电机数学模型及调速系统．北京，国防工业出版社，1989
[10] P. Pillay and R. Krishnam, Modeling, Analysis and Simulation of a High Performance Synchronous Motor Drive. IEEE IAS Annual Meeting, Atlanta, Georgia, 1987
[11] 韩交荣，通用变频器及其应用机械工业出版社，2000．1
[12]李志民，张遇杰，同步电动机调速系统，机械工业出版社，1996
[13]李永尔，曹江涛，邵剑文，异步电机直接转矩控制系统低速转矩特性研究及其全数字化控制．电气传动，1994，1：33～38
[14]冯江华，陈高华，黄松涛，异步电动机的直接转矩控制．电工技术学报，1999,3，29～33
[15] T. -S. Low T. -H. Lee, and K. -T. Chang, An Optimal Speed Controller for Permanent Magnet Synchronous Motor Drives. in Proc. Int. Conf. on Industrial Electronics, control , Instrumentation, and Automation, Power Electronics and Motion Control, 1992, pp. 407～412
[16]陈国呈，PWM变频调速技术．北京，机械工业出版社，1998
[17] Jun-Koo Kang, et al. New Direct Torque Control of Induction Motor for Minimum Torque Ripple and Constant Switching Frequency. IEEE Trans. On Industry Applications. Vol. 35, No.5, September/October 1999
[18]姬志艳，李永东，司保军，无速度传感器异步机直接转矩控制的研究．电工技术学报，1997，4，15～19
[19] R. Monajemy, R. Krishnan, Implementation Strategies for Concurrent Flux Weakening and Torque Control of the PM Synchronous Motor. in IEEE Ind. Application, Society Annu. Meet. 1995, pp.238-245
[20]许大中，交流电机调速理论．杭州，浙江大学出版社，1991
[21]吴守箴，臧英杰，电气传动的脉宽调制控制技术．北京，机械工业出版社，1995
[22]黄俊，王兆安，电力电子变流技术．北京，电子工业出版社，1993
[23]吴永前。永磁同步电机无传感器调速系统的研究。两北工业大学硕十学位论文。2001
[24] Shigeo Morimoto, Keisuke Kawamoto, et al. Sensorless Control Strategy for Salient-Pole PMSM Based on Extended EMF in Rotating Reference Frame. IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 38, NO. 4, JULY/AUGUST 2002
[25] Oskar Wallmark. Control of a Permanent Magnet Synchronous Motor with Non-Sinusoidal Flux Density Distribution Department of Electric Power Engineering. CHALMERS UNIVERSITY OF TECHNOLOGYG, oteborg, Sweden 2001
[26]陈伯时，陈敏逊，交流调速系统．北京，机械工业出版社，1998
[27] Minghua Fu, Longya Xu, A Novel Sensorless Control Technique for Permanent Magnet Synchronous Motor (PMSM) Using Digital Signal Processor (DSP). The Ohio state University, OH, USA
[28] Mitsubishi Semiconductors Power Modules MOD. Using Intelligent Power Modules, MITSUBISHI ELECTRIC, Sep. 1998
[29] Isao Takahashi, Hitoshi Haga. Inverter Control Method of IPM Motor to Improve Power Factor of Diode Rectifier. PCC-Osaka, 2002
[30]李序葆，赵永健，电力电子器件及其应用，机械工业出版社，1996
[31]迟岩，彭继慎等，电流滞环PWM逆变器同步电动机的步进传动控制系统．电气传动，1998．2，11～14、18
[32]张雄伟，曹铁勇，DSP芯片的原理与开发应用，电子工业出版社．2000
[33] S. Bejerke. Digital Signal Processing Solutions for Motor Control Using the TMS320F240 DSP-Controiler. Texas Instruments. September 1996
[34] Texas Instruments, TMS320C24X DSP Controller, Reference Set. 1997
[35] Texas Instruments, TMS320C2XX User's Guide. 1997
[36]于宏全，钟彦儒，曾光，基于TMS320X240的交流变频调速装置的设计，电气传动自动化， 1999，21(3)：7～11
[37] Longya Xu, Minghua Fu, and Li Zhen. A DSP Based Servo System Using Permanent Magnet Synchronous Motors (PMSM). The Ohio State University Department of Electrical Engineering
[38]宋国良，周元钧，李军，旋转变压器．数字转换器AD2S90在无刷直流电机换相与控制中的应用，计算机自动监测与控制，2000
[39]杨雄，用于感应同步器的数字变换芯片AD2S90，国外电子元器件，2002
[40]包健，严义，智能键盘和LED驱动接口芯片的设计，微机算机信息，1999，15(3)：76～77
[41]容毅，MAX7219串行LED驱动器的扩展应用，国外电子元器件，2000，(5)：40～42
[42]黄晓兵，王立墒，串行LED显示驱动器MAX7219，电测与仪表，2000，37(420)：50～51，39
[43]唐晓蓉，周俊武，肖玉明，利用MAX7219驱动LED显示器．电子技术应用，1998(3)
[44]章云，谢莉萍，熊红艳，DSP控制器及其应用，机械工业出版社，2001．8
[45]张雄伟，曹铁勇，DSP芯片的原理与开发应用，电子工业出版社．2000
[46]万文斌等，永磁同步电动机的高性能电流控制器，中国电机工程学报，2000
[47]史秋明等，执行机构位置反馈系统精度的研究，自动化仪表，2000，21(12)12～14，24
[48]邓兵，潘俊民，潘志扬，数字化阀门电动执行机构，2001，17～19
[49]刘杰等，机电一体化技术基础与产品设计，冶金工业出版社，2003